Dev Call Jan 13, 2025

CraigElder · January 13, 2025, 10:56pm

Issues & Pull Requests

github.com/ArduPilot/ardupilot

Plane:mode AUTOLAND enhancements

ArduPilot:master ← Hwurzburg:autoland_improvements_mk2

opened 10:00PM - 31 Dec 24 UTC

Hwurzburg

+221 -68

This PR enhances the new AUTOLAND mode. It adds the following new features: 1…. Allows takeoff direction capture, and hence autoland direction and use, in ACRO, STABILIZE, FBWA, TRAINING, and MANUAL modes, in addition to Mode TAKEOFF and AUTO NAV_TAKEOFF, using the same criteria as currently used, the first time after arming. 2. Adds an AUTOLAND_OPTIONS option that will set this direction upon arming using a compass, if in use, instead of ground course, allowing the user to set it on the ground arbitrarily as desired, independent of the actual takeoff direction. The option is in the autoland module for future expansion 3. the "base" leg is actually a WP_LOITER_RAD loiter to alt with tangent exit directly into the final approach waypoint and landing with proper loiter direction. ![image](https://github.com/user-attachments/assets/edf4349a-d623-46bb-8f29-f0c6e4812a5d) changes to current behavior, besides the new features, is that once the direction is captured it persists until a disarm occurs. Therefore multiple auto takeoffs while armed no longer reset the direction captured by the first, on each subsequent takeoff. Originally, I thought this behavior was desirable, but I now believe it's not of much benefit and the new behavior avoids the current corner case issue of resetting the direction while in flight if a NAV_TAKEOFF autotakeoff is interrupted and then resumed. Also, this is not available for QudPlanes, even if fixed wing landing option is used. We thought the possibility of getting the direction inappropriately wrong on transitions from a VTOL takeoff just too complex to get correct. In addition, it removes the AUTOLAND code segments in the commands_logic and mode_takeoff modules, reducing the flash impact overall... These changes have been tested in SITL and flight-tested in all configurations I could think of.

github.com/ArduPilot/ardupilot

Baro thrust scaling

ArduPilot:master ← andyp1per:pr-baro-mot-comp

opened 08:31PM - 01 Jan 25 UTC

andyp1per

+71 -6

This allows a user to apply a linear pressure compensation to a baro based on th…rust output. On a small whoop there is a very causal relationship between pressure and throttle: ![image](https://github.com/user-attachments/assets/cec8a9aa-3893-4120-8b8a-c88a59611539) By applying this offset the effect can be normalized: ![image](https://github.com/user-attachments/assets/388b19e8-d9ad-46a7-85b0-94cd1dc0f99c) Set by using ```BAROx_THST_SCALE"

github.com/ArduPilot/ardupilot

Rename HAL_NO_UARTDRIVER -> AP_HAL_UARTDRIVER_ENABLED

ArduPilot:master ← peterbarker:pr/rename-HAL_NO_UARTDRIVER

opened 04:22AM - 07 Jan 25 UTC

peterbarker

+15 -10

``` Board AP_Periph blimp bootloader copter heli iofirm…ware plane rover sub CubeOrange-periph-heavy * CubeRedPrimary * * * * * * * Durandal * * * * * * * Hitec-Airspeed * KakuteH7-bdshot * * * * * * * MatekF405 * * * * * * * Pixhawk1-1M-bdshot * * * * * * f103-QiotekPeriph * f303-Universal * iomcu * revo-mini * * * * * * * skyviper-journey * skyviper-v2450 * ```

github.com/ArduPilot/ardupilot

AP_Soaring: Add named value float publisher of thermal EKF state

ArduPilot:master ← Ryanf55:soaring-nvf-ekf

opened 09:21AM - 09 Jan 25 UTC

Ryanf55

+12 -0

# Purpose * This sends the EKF estimate of the thermal to mavproxy_soar so a …dev can visualize where AP thinks the thermal is and how big it is * Useful until we have proper mavlink packets for soaring state * I threw in the strength, which I may scale the line thickness on color it different colors depending on strength like the thermal estimators on flight instruments do. The strength is not yet used in mavproxy. # Question Should they be throttled to something like 4HZ? # Demo See https://github.com/ArduPilot/MAVProxy/pull/1500 Make sure to define HAL_SOARING_NVF_EKF_ENABLED to 1

github.com/ArduPilot/ardupilot

AP_Mission: get_item: ensure returned item is clean

ArduPilot:master ← IamPete1:mission_get_item

opened 03:58PM - 10 Jan 25 UTC

IamPete1

+36 -57

Mission does not fill in all fields of the returned item, this means you can get… random data. This results in getting bad data via misison ftp or scripting. The mavlink mission item protocol does not use this method. The other mission ftp types are OK because they always fill in the full set of information. To reproduce, upload a misison and then read it back again. For example [before.txt](https://github.com/user-attachments/files/18379386/before.txt). Testing shown for SITL but the bug also exists on real hardware. This is what we upload: ![image](https://github.com/user-attachments/assets/9da0f87b-67eb-4a0d-8ed6-d7c0aa946ecc) This is what we read back on master: ![image](https://github.com/user-attachments/assets/9107f19e-e64a-4a17-92b1-df6718350ef6) With the fix we get the same as what is written: ![image](https://github.com/user-attachments/assets/fcd50324-827e-4899-8263-b39b6e9b25b7) This only shows up in the x,y,z fields of a item without location because the other fields are defaulted here: https://github.com/ArduPilot/ardupilot/blob/6efe2105496ff9ffeca2ba13c0d80b1f9212c308/libraries/AP_Mission/AP_Mission.cpp#L1574-L1585 A alternate (or complementary) fix would be to also set default values for the x,y and z values there.

github.com/ArduPilot/ardupilot

AP_Mission: don't allow waypoint 0 (home) to be changed

ArduPilot:master ← IamPete1:mission_home_set

opened 05:27PM - 10 Jan 25 UTC

IamPete1

+24 -12

This highlights what is a tricky problem to fix. The main problem is that this w…ill break most scripts which try and upload missions. The problem is that mission allows you to set way-point 0, however when you try and read way point 0 you just get home. https://github.com/ArduPilot/ardupilot/blob/6efe2105496ff9ffeca2ba13c0d80b1f9212c308/libraries/AP_Mission/AP_Mission.cpp#L817-L822 This is the key this issue. You can write whatever you like to waypoint 0, but there is no way to read it back or for it to be used in anyway. (The only way I can think is that if you have a eeprom copy you could read it out manualy) This makes the change that your no longer allowed to write to waypoint 0, this give users a clue that there throwing away there first point, it will never be used. Maybe the more complete fix is to stop storing home completely, this would require doing param conversion on the total mission item count. A nice example of something that does not work as expected on master is the copter save way point switch (you have to make sure your mission is fully cleared and MIS_TOTAL is 0). In this case it carefully checks for there being 0 waypoints and tries to add a takeoff. https://github.com/ArduPilot/ardupilot/blob/6efe2105496ff9ffeca2ba13c0d80b1f9212c308/ArduCopter/RC_Channel_Copter.cpp#L238-L250 However, that takeoff is written to index 0 so it is never used. If you read the mission back again you will find only a single mission item and no take off: ![image](https://github.com/user-attachments/assets/ae1cb17c-7b94-4c1e-a43c-d13a4c7c935d)

github.com/ArduPilot/ardupilot

AP_HAL_SITL: Periph: stop running SITL updates off main thread

ArduPilot:master ← peterbarker:pr/sim-periph-no-sitl--on-main-thread

opened 05:21AM - 13 Jan 25 UTC

peterbarker

+9 -4

the same code present in the normal HAL-SITL scheduler was not copied across whe…n this method was created. Without it, if a non-main thread called delay we will attempt to do things like update the sitl_model (ie. SIM_Aircraft) object. We have no protections in place (nor should we have) for this happening when the main thread is in the middle of doing the SITL updates, so corruption is definitely going to happen at some stage!

github.com/ArduPilot/ardupilot

possible regression in quadplane attitude controller?

opened 10:18PM - 13 Jan 25 UTC

tridge

DevCallTopic

I've had some strange and quite severe oscillations with a GriffinPro tilt quadp…lane recently when running master. The oscillations are bad enough that I am at risk of losing the aircraft. The odd thing is that running the same parameters on 4.5.7 I have not been able to reproduce the issue. There are some complicating factors, so it isn't absolutely certain this is a regression, but I think it is worth looking into. This is what happens on master: ![image](https://github.com/user-attachments/assets/048d587f-6f3c-42a6-b686-97e7f430d879) notice the increasing amplitude of oscillation in QLOITER. Changing to QHOVER did allow it to slowly recover, but still huge overshoots. This is the same parameters on 4.5.7: ![image](https://github.com/user-attachments/assets/e5c6799f-3592-4e20-a366-b65b38ea91d1) there is still some overshoot, but not dangerous. the complicating factors are: - the tune is pretty bad. I don't know quite how I ended up with this tune, it is clearly a manual tune as it has round numbers for the gains. My past logs showed I changed to these gains sometime last year, but I can't remember why. Maybe some experiments I was doing at the time? The rate PID gains are clearly too low for the angle P gain of 10. I could retune it easily and make it fly a lot better, but my concern isn't getting a good tune, it is explaining why master seems much worse than 4.5.7 in case this impacts other users - I recently increased the payload a bit, adding a RPi4 and a 4G radio, which I suspect is why it is worse now than it has been on previous flights, but as a percentage of total weight the extra payload is small (maybe 250g out of 10kg or so?) - the ESCs are blheli32/dshot, but are going via a L431 DroneCAN adapter, so changes in the CAN code need to be considered as well as high level quadplane and attitude controller Some things I've looked at: - given the number of filtering changes in master compared to 4.5.7 I looked at the unfiltered vs filtered gyro data and I don't see any filter induced lag in the logs - I'm intrigued by the flat bottom on the RATE.RDes graph above for master. That is probably the 75 deg/s limit from Q_A_RATE_R_MAX, but I don't see an equivalent flat bottom on the tests with 4.5.7. Some change in the rate limiting? Or just the different way of triggering the oscillation (I had to use the sticks to start the movement in 4.5.7 whereas with master it spontaneously oscillates when descending). - i looked at the RPM feedback from the ESCs versus the demand in RCOU and I don't see any higher lag in master than in 4.5.7. I haven't tested the 4.6.0 beta. To do that safely I think I'll need to retune first to get a safe set of gains, then use a script to switch to these gains to see if 4.6.0 is affected. Logs are here: http://uav.tridgell.net/tmp/GriffinProOscillation/

**Vehicle Updates

github.com/ArduPilot/ardupilot

ArduPilot 4.6 issues list

opened 12:01AM - 14 Nov 24 UTC

rmackay9

DevCallTopic ReleaseAdmin

This is a list of issues discovered during ArduPilot 4.6 testing. Issues for [C…opter/Rover-4.5 issues are here](https://github.com/ArduPilot/ardupilot/issues/26103) **Reports requiring investigation** - [ ] BLHeli SERVO_BLH_RVMASK mapping is achieved through trial and error (xfacta, andyp) - [ ] Takeoff throttle behavior for planes without airspeed sensor changed ([issue](https://github.com/ArduPilot/ardupilot/issues/28775), [PR](https://github.com/ArduPilot/ardupilot/pull/28776)) - [ ] when the user has configured ESC, FFT or RPM notch and has INS_HNTCx_REF=0 then they end up with a fixed notch. We should have an arming check to tell them they need to set the REF to 1.0 (any non-zero value will do actually) https://github.com/ArduPilot/ardupilot/issues/28786 **Confirmed issues** - [ ] ESC Telemetry logging issue ([issue](https://github.com/ArduPilot/ardupilot/issues/28807), [PR](https://github.com/ArduPilot/ardupilot/pull/29001)) - [ ] on ICM45686 IMUs the SPI transfer overheads can be overwhelming on some boards, especially those with 3 of that sensor. Some PRs to address: https://github.com/ArduPilot/ardupilot/pull/28672 and https://github.com/ArduPilot/ardupilot/pull/27573 ***Plane Specific Issues*** - [ ] the assisted_flight flag oscillates rapidly in fwd transition of tilt quadplanes, possibly leading to incorrect tllt slew rate https://github.com/ArduPilot/ardupilot/issues/28957 - [ ] possible regression in attitude control in quadplanes? https://github.com/ArduPilot/ardupilot/issues/29060 ***Heli Specific Issue*** - None ***Wiki Issues*** - IMU temp cal pages need updating ([discussion](https://ardupilot.org/copter/docs/common-imutempcal.html)) **Enhancements or Issues that may not be resolved before the stable release** - [ ] ROS2 attitude control + thrust enhancement request ([discussion](https://discuss.ardupilot.org/t/ros2-interface-for-controlling-thrust-and-attitude/127694)) - [ ] AutoTune should have a vehicle specific (or configurable) AngleP max (reported by Tridge) - [ ] add a warning if the GCS system clock and UTC clock on the flight controller differs by over 20s and signing is active, as signing will fail with a 30s difference - [ ] Custom Build Server for CubeOrangePlus with OpenDroneID shows linker error when out of flash ([discussion1](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/4), [discussion2](https://discuss.ardupilot.org/t/copter-custom-firmware-build-issue-with-remote-id-support-latest-not-4-5-7/125177), Issue) - [ ] Add LDRobot LD19 support ([discussion](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/8), [issue](https://github.com/ArduPilot/ardupilot/issues/28662)) - [ ] need to provide a clearer message to users when the power status flags change, indicating loss of a power source in flight. A statustext at message level CRITICAL I think is warranted, maybe "POWER STATUS CHANGE" ? (Tridge has details) **Wiki issues/enhancement requests ([Wiki To-Do list](https://github.com/ArduPilot/ardupilot_wiki/issues/4274))** - None **Resolved issues** - [x] Community dev struggles with build options ([discussion](https://discuss.ardupilot.org/t/build-from-sources-with-custom-features/127879)) -- no response from user - [x] https://github.com/ArduPilot/ardupilot/issues/28969 - [x] Autotune acceleration limiting is not effective ([PR](https://github.com/ArduPilot/ardupilot/pull/28911)) -- resolved for beta3 - [x] Orqa 3030 autopilot config issue ([discussion](https://discuss.ardupilot.org/t/orqa-3030-f450-issue/127483), [PR](https://github.com/ArduPilot/ardupilot/pull/28855)) -- resolved for beta3 - [x] BeagleBoneBlue RC not working with Copter ([discussion](https://discuss.ardupilot.org/t/rc-sbus-works-with-plane-but-not-copter-beaglebone-blue/127540/2)) -- user error related to running as a service - [x] Plane takeoff not completing under TKOFF_OPTIONS[0]=0 #28685 ([PR](https://github.com/ArduPilot/ardupilot/pull/28792)) -- resolved for beta3 - [x] plane takeoff regression since 4.5.x: https://github.com/ArduPilot/ardupilot/issues/28681 -- ready for beta2 - [x] on plane when FENCE_AUTOENABLE=3 and FENCE_ENABLE=0 the fence does not enable when arming if there is a RCn_OPTION set to FENCE. This is a regression from 4.5.x. (Tridge has details) Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] on plane the pre-arm check for being inside polygon fence was lost since 4.5.x. Fix: https://github.com/ArduPilot/ardupilot/pull/28729 -- ready for beta2 - [x] Navio2 GPS not working ([discussion](https://discuss.ardupilot.org/t/rover-4-6-0-beta1-is-available-for-beta-testing/126296/4), [conflicting report that it does work](https://discuss.ardupilot.org/t/copter-4-6-0-beta1-is-available-for-beta-testing/126295/9)) -- fixed by refreshing/resetting firmware - [x] arming at mid-stick question ([discuss](https://discuss.ardupilot.org/t/arming-with-throttle-at-mid-stick/127203)) -- no issue - [x] Crossfire receiver does not reconnect after failsafe ([issue](https://github.com/ArduPilot/ardupilot/issues/28797), [PR](https://github.com/ArduPilot/ardupilot/pull/28805)) -- resolved for -beta2 - [x] Copter AutoTune can produce very low maximum acceleration values ([issue](https://github.com/ArduPilot/ardupilot/issues/28799), [PR](https://github.com/ArduPilot/ardupilot/pull/28800)) -- resolved for -beta2 - [x] memory fragmentation and multiple memory regions mean lua scripting can fail with out of memory error even if you have plenty of free memory. Addressed in https://github.com/ArduPilot/ardupilot/pull/26517 - [x] system time may be unstable when using only first GPS timestamp, consider https://github.com/ArduPilot/ardupilot/pull/24022 or similar fix (Tridge has details) - [x] Plane fences ignored ([issue](https://github.com/ArduPilot/ardupilot/issues/28666)) -- cannot reproduce

CraigElder · January 16, 2025, 8:39pm

Attendee count (max): 16

UTC2300 - Vehicle update

Closed a few things off
- FPE ArduPilot 4.6 issues list · Issue #28612 · ArduPilot/ardupilot · GitHub
- Some confirmed issues
- Beta3 soon
Possible regression in quadplane attitude controller
- Tridge did a few flights yesterday
- Massive oscillation
- 4.5.7 comparison didn’t show the issue
  - Doesn’t definitely say regression, but suspicious
  - possible regression in quadplane attitude controller? · Issue #29060 · ArduPilot/ardupilot · GitHub
- Filters?
  - pre/post looks logs fine
- Input quaternion function
  - Body-frame rates
  - Angular velocity limiting might impact?
- Vehicle wasn’t tuned well, but this seems to be a regression
- SITL doesn’t seem to show things
  - But might have been a procedural failure there

UTC2315 - AP_RangeFinder: Notify different alerts by muramura · Pull Request #26596 · ArduPilot/ardupilot · GitHub

Fix from muramura on LR-D1 rangefinder driver warnings
Merged!

UTC2317 - Support for scripting in flash using littlefs by andyp1per · Pull Request #28724 · ArduPilot/ardupilot · GitHub

Support for scripting in flash using littlefs
Instead of ad-hoc dataflash logging code
Need to understand the mutex deadlock error
Need to add a board to the CI testing
Littlefs in SITL?
- Somebody “will fix it later”…
Every board is a little larger?
- Uartdriver debug
  - We already have this for ChibiOS
Need some sort of filesystem tree?
- Mutual exclusivity
Kill the block logger entirely?
- Not with a 20kB cost you won’t!
- Also small dataflash costs for overhead…

UTC2347 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

Bindings for servo telemetry
Merged!

UTC2349 - Plane:mode AUTOLAND enhancements by Hwurzburg · Pull Request #28976 · ArduPilot/ardupilot · GitHub

Enhancements for AUTOLAND
Loiters down to alt then enters base leg tangentially
Altitude scaling might cause the loiter radius stuff to be wrong
Need to check interaction with fences and ignoring
- Maybe in_landing_sequence gets considered true?

UTC0015 - Baro thrust scaling by andyp1per · Pull Request #28982 · ArduPilot/ardupilot · GitHub

Baro thrust scaling
Should we do this on all baros?
Should be hidden for most people
- Build server option only
Voltage effect not aerodynamic effect?!
- LDO for the sensor missing?
- So supply voltage on baro
- Remove props, apply some other form of non-aerodynamic load on the motors
- Analogue Ratiometric parameter was exactly for this sort of thing

UTC0023 - AP_BLHeli: normalize ESC index correctly with iomcu by andyp1per · Pull Request #29001 · ArduPilot/ardupilot · GitHub

Index correctly with IOMCU
Has been tested by a user
Also neatened since last time
Merged!

UTC0025 - Rename HAL_NO_UARTDRIVER -> AP_HAL_UARTDRIVER_ENABLED by peterbarker · Pull Request #29019 · ArduPilot/ardupilot · GitHub

Change HAL_NO_UARTDRIVER to AP_HAL_UARTDRIVER_ENABLED
Merged

UTC0026 - SRV_Channel: make bitmask updates safer by robertlong13 · Pull Request #29027 · ArduPilot/ardupilot · GitHub

Build bitmasks thread-safe
Race conditions in LUA
Only impact SITL?
Really only narrows the problems
Maybe a double-buffer?
Maybe only do this when disarmed?
Going to clarify the commit messages to clear up the fact it’s not thread safe
Going to move it to the main thread
Shift things from the 1Hz loop?
Add named-valie-float value of thermal EKF state

UTC0055 - AP_Soaring: Add named value float publisher of soaring thermal EKF state by Ryanf55 · Pull Request #29030 · ArduPilot/ardupilot · GitHub

Interim solution for getting soaring state down to GCS
Strength / radius / position
- Put a comment in…

UTC0057 - AP_Mission: get_item: ensure returned item is clean by IamPete1 · Pull Request #29038 · ArduPilot/ardupilot · GitHub

Ensure returned item is clean
Can be merged once it has been run through Valgrind

UTC0101 - AP_Mission: don't allow waypoint 0 (home) to be changed by IamPete1 · Pull Request #29039 · ArduPilot/ardupilot · GitHub

Don’t allow waypoint 0 to be changed
Reading out waypoint 0 picks out home
No special case for writing waypoint 0
Aux function change-waypoint with mission otal zero is supposed to add a takeoff
But it adds it at index 0
Set-item on waypoint 1 should auto-create waypoint 0?
Should we stop transferring item 0?
Fiddle things so we end up with symmetry on fetch/store of home?
- PH will try that out

UTC0113 - AP_HAL_SITL: Periph: stop running SITL updates off main thread by peterbarker · Pull Request #29050 · ArduPilot/ardupilot · GitHub

Stop running sitl updated in threads on periph
Merged!

UTC0116 - common.xml: pull simple description, formatting and XML markup patch… by peterbarker · Pull Request #380 · ArduPilot/mavlink · GitHub

Pull in formatting an markup changes from upstream
Merged!

UTC0121 - quadplane attitude control issue redux

Close to edge and yaw input might have pushed it over the edge
Cross-coupling between yaw and roll and it’s kicked it up
Will fly it this weekend
Sysid for quadplane needed!

Attendee count (max): 16

UTC2300 - Vehicle update

UTC2315 - AP_RangeFinder: Notify different alerts by muramura · Pull Request #26596 · ArduPilot/ardupilot · GitHub

UTC2317 - Support for scripting in flash using littlefs by andyp1per · Pull Request #28724 · ArduPilot/ardupilot · GitHub

UTC2347 - AP_Scripting: add bindings for servo telemetry by IamPete1 · Pull Request #28857 · ArduPilot/ardupilot · GitHub

UTC2349 - Plane:mode AUTOLAND enhancements by Hwurzburg · Pull Request #28976 · ArduPilot/ardupilot · GitHub

UTC0015 - Baro thrust scaling by andyp1per · Pull Request #28982 · ArduPilot/ardupilot · GitHub

UTC0023 - AP_BLHeli: normalize ESC index correctly with iomcu by andyp1per · Pull Request #29001 · ArduPilot/ardupilot · GitHub

UTC0025 - Rename HAL_NO_UARTDRIVER -> AP_HAL_UARTDRIVER_ENABLED by peterbarker · Pull Request #29019 · ArduPilot/ardupilot · GitHub

UTC0026 - SRV_Channel: make bitmask updates safer by robertlong13 · Pull Request #29027 · ArduPilot/ardupilot · GitHub

UTC0055 - AP_Soaring: Add named value float publisher of soaring thermal EKF state by Ryanf55 · Pull Request #29030 · ArduPilot/ardupilot · GitHub

UTC0057 - AP_Mission: get_item: ensure returned item is clean by IamPete1 · Pull Request #29038 · ArduPilot/ardupilot · GitHub

UTC0101 - AP_Mission: don't allow waypoint 0 (home) to be changed by IamPete1 · Pull Request #29039 · ArduPilot/ardupilot · GitHub

UTC0113 - AP_HAL_SITL: Periph: stop running SITL updates off main thread by peterbarker · Pull Request #29050 · ArduPilot/ardupilot · GitHub

UTC0116 - common.xml: pull simple description, formatting and XML markup patch… by peterbarker · Pull Request #380 · ArduPilot/mavlink · GitHub

UTC0121 - quadplane attitude control issue redux

UTC0127 - close